DeformSmith: Physics Harness-Guided Hierarchical Generation of Deformable Assets for Robot Manipulation

arXiv:2609.18620 · cs.RO · Submitted 2026-09-16 · Read on arXiv

cs.RO

Submitted: 2026-09-16

Updated: 2026-09-17

Project page: https://can-lee.github.io/DeformSmith_web

Terminology

• Consistency — 10× in this paper · explained in 3 episodes
• Gaussian Splatting — 5× in this paper · explained in 4 episodes
• Ablation — 4× in this paper · explained in 1 episode
• Ablation Studies — 3× in this paper · explained in 1 episode
• Conference on Computer Vision and Pattern Recognition — 3× in this paper
• Alignment — 2× in this paper · explained in 1 episode
• Embodied AI — 2× in this paper · explained in 2 episodes
• 3D Gaussian Splatting — 1× in this paper · explained in 2 episodes
• Accuracy — 1× in this paper · explained in 1 episode
• Agentic Framework — 1× in this paper · explained in 6 episodes
• Benchmark — 1× in this paper · explained in 2 episodes
• Fidelity — 1× in this paper · explained in 2 episodes
• Generative Model — 1× in this paper · explained in 2 episodes
• Generative Models — 1× in this paper · explained in 3 episodes
• Hyperparameters — 1× in this paper · explained in 2 episodes
• IEEE International Conference on Robotics and Automation — 1× in this paper
• System Identification — 1× in this paper · explained in 3 episodes
• World Model — 1× in this paper · explained in 7 episodes

Sources

• DeformMaster: An Interactive Physics-Neural World Model for Deformable Objects from Videos
• SimFoundry: Modular and Automated Scene Generation for Policy Learning and Evaluation
• PhysX-Omni: Unified Simulation-Ready Physical 3D Generation for Rigid, Deformable, and Articulated Objects
• Qwen-Image Technical Report

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